Coaxial double-propeller type air-land amphibious bomb-dropping aircraft

Abstract

A coaxial double-propeller type air-land amphibious bomb-dropping aircraft comprises a shell, a frame assembly, a coaxial double-propeller rotor assembly, a flight attitude adjustment executing mechanism, a land omni-directional moving mechanism and a bomb-dropping mechanism. The coaxial double-propeller rotor assembly is located on the top of the frame assembly. The land omni-directional moving mechanism and the bomb dropping mechanism are located at the bottom of the frame assembly, and the bomb dropping mechanism is located in the center of the land omni-directional moving mechanism; the flight attitude adjustment executing mechanism is located between the coaxial double-propeller rotor wing assembly and the frame assembly; the shell is located outside the frame assembly. An electronic speed regulator, a flight control board with a built-in satellite navigation module, a battery, an integrated controller and a wireless signal transceiver are arranged in the frame assembly. The unmanned aerial vehicle has the functions of ground omni-directional movement, vertical take-off and landing, air cruising and fixed-point bomb dropping, can be quickly hidden on the ground to be close to a task target, can quickly vertically lift off and accurately fly over the task target to complete a bomb dropping task after approaching the task target, and can quickly fly away from a target area and realize return flight after bomb dropping is completed.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles, in particular to a coaxial double-propeller air-land amphibious bombing type aerial vehicle. Background Art

[0002] In recent years, drone technology has developed rapidly. In the civilian field, drones have great application value in aerial photography, transportation, inspection, plant protection and other fields; in the military field, drones can be used for transportation, refueling, reconnaissance, strike and other combat missions.

[0003] As a special type of drone, vertical take-off and landing drones can take off and land at zero speed without the need for a dedicated take-off and landing runway. Compared with conventional drones, vertical take-off and landing drones not only have the advantages of flexible take-off and landing methods, convenient launch and recovery, and good maneuverability, but also have the general functions of conventional drones.

[0004] However, traditional vertical take-off and landing drones are mainly designed for air-based missions, and rarely consider the execution of land-based missions. For specific tasks in certain special scenarios, for example, they need to quickly and secretly approach the mission target on the ground, and then take off and accurately reach the mission target to perform the bombing mission. After completing the bombing mission, they can quickly fly away from the target area and return.

[0005] However, existing vertical take-off and landing drones are difficult to complete specific tasks in the above-mentioned special scenarios, so it is necessary to design an unmanned bomb-dropping aircraft that can meet the mission requirements. Utility Model Content

[0006] In view of the problems existing in the prior art, the utility model provides a coaxial twin-propeller air-to-land amphibious bombing aircraft, which has the functions of omnidirectional movement on the ground, vertical take-off and landing, aerial cruising, and fixed-point bombing. It can quickly and concealedly approach the mission target on the ground, and after approaching the mission target, it can quickly take off vertically and can accurately fly over the mission target, and then complete the bombing mission over the mission target. After the bombing mission is completed, it can quickly fly away from the target area and return.

[0007] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a coaxial twin-propeller air-to-land amphibious bomb-dropping aircraft, comprising an outer shell, a frame assembly, a coaxial twin-propeller rotor assembly, a flight attitude adjustment actuator, a land omnidirectional movement mechanism and a bomb-dropping mechanism; the coaxial twin-propeller rotor assembly is arranged on the top of the frame assembly; the land omnidirectional movement mechanism and the bomb-dropping mechanism are both arranged at the bottom of the frame assembly, and the bomb-dropping mechanism is located at the center of the land omnidirectional movement mechanism; the flight attitude adjustment actuator is arranged between the coaxial twin-propeller rotor assembly and the frame assembly; the outer shell is arranged outside the frame assembly.

[0008] The frame assembly includes a first support plate, a second support plate and a third support plate; the first support plate, the second support plate and the third support plate are arranged in sequence from top to bottom, and the first support plate and the second support plate, and the second support plate and the third support plate are fixedly connected by support columns; the flight attitude adjustment actuator is arranged above the first support plate; the land omnidirectional movement mechanism and the bomb release mechanism are both arranged below the third support plate.

[0009] The flight attitude adjustment actuator includes a first attitude adjustment servo, a first attitude adjustment swing rod, a first attitude adjustment rod, a first attitude adjustment ring frame, a second attitude adjustment servo, a second attitude adjustment swing rod, a second attitude adjustment rod, a second attitude adjustment ring frame, a first support seat and a second support seat; the first support seat and the second support seat are vertically fixed on the upper surface of the first support plate, and the first support seat and the second support seat are mirror-symmetrically distributed relative to the center of the first support plate; the first attitude adjustment ring frame is hinged between the first support seat and the second support seat; the second attitude adjustment ring frame is hinged inside the first attitude adjustment ring frame, and the hinge axis of the second attitude adjustment ring frame is vertically distributed with respect to the hinge axis of the first attitude adjustment ring frame; the The first attitude adjusting servo is fixedly installed on the lower surface of the first support plate, one end of the first attitude adjusting swing arm is fixedly connected to the power output shaft of the first attitude adjusting servo, the other end of the first attitude adjusting swing arm is hinged to one end of the first attitude adjusting pull rod, and the other end of the first attitude adjusting pull rod is hinged to the first attitude adjusting ring frame; the second attitude adjusting servo is fixedly installed on the lower surface of the first support plate, and the power output shaft of the second attitude adjusting servo is vertically distributed with the power output shaft of the first attitude adjusting servo; one end of the second attitude adjusting swing arm is fixedly connected to the power output shaft of the second attitude adjusting servo, the other end of the second attitude adjusting swing arm is hinged to one end of the second attitude adjusting pull rod, and the other end of the second attitude adjusting pull rod is hinged to the second attitude adjusting ring frame.

[0010] The coaxial twin-propeller rotor assembly is fixedly mounted on a second attitude adjustment annular frame; an electronic speed regulator is arranged on the upper surface of the first support plate between the first support seat and the second support seat, and the electronic speed regulator is electrically connected to the drive motor in the coaxial twin-propeller rotor assembly.

[0011] The land omnidirectional mobile mechanism includes three sets of omnidirectional wheel moving components, which are evenly distributed along the circumferential direction; the omnidirectional wheel moving components include omnidirectional wheels, walking motors and motor mounting seats; the motor mounting seats are fixedly installed on the lower surface of the third support plate; the walking motor is horizontally fixed on the motor mounting seat; the omnidirectional wheel is coaxially fixed on the motor shaft of the walking motor; the angle between any two adjacent motor shafts of the walking motors is 120°.

[0012] A flight control board is fixedly arranged on the upper surface of the second support plate, and the flight control board has a built-in satellite navigation module; a battery and an integrated controller are fixedly arranged on the upper surface of the third support plate; the battery is arranged at the center of the third support plate, and the battery serves as a power supply for the aircraft; the integrated controller adopts a split structure and is symmetrically distributed relative to the center of the third support plate; the walking motor is electrically connected to the integrated controller; three visual cameras are fixedly arranged on the lower surface of the third support plate, and the three visual cameras are evenly distributed along the circumferential direction of the third support plate, and a visual camera is arranged between any two adjacent walking motors; a wireless signal transceiver is also arranged on the upper surface of the third support plate; the visual camera and the wireless signal transceiver are both electrically connected to the integrated controller.

[0013] The launching mechanism comprises an outer magazine, an inner magazine, a support rod, a projectile, a projectile limiting spring, a projectile limiting steel ball, an iron core, a coil, a rubber firing column, an armature firing plate and a firing plate reset spring; the outer magazine is vertically fixed on the lower surface of the third support plate, and the outer magazine is coaxially distributed with the third support plate; the inner magazine is arranged on the inner side of the outer magazine, and the inner magazine is coaxially distributed with the outer magazine, and the inner magazine is fixedly connected to the outer magazine through the support rod; a plurality of limiting holes are evenly distributed along the circumferential direction on the magazine body of the inner magazine, and a projectile limiting steel ball is arranged in each limiting hole, and the projectile limiting steel ball is in abutment and contact with the middle and lower part of the projectile; one end of the projectile limiting spring is fixed to the projectile limiting steel ball The inner magazine is fixedly connected, and the other end of the projectile limit spring is fixedly connected to the outer magazine; a projectile firing hole is opened at the center of the top of the inner magazine; the iron core is vertically fixed on the top of the inner magazine, and the iron core adopts a hollow cylindrical structure, and the center hole of the iron core is coaxially distributed with the projectile firing hole; the coil is fixedly sleeved on the outer surface of the iron core, and the coil is electrically connected to the integrated controller; the firing plate reset spring is vertically fixed on the top of the iron core, and the armature firing plate is fixedly installed on the top of the firing plate reset spring; the rubber firing column is vertically fixed at the center of the lower surface of the armature firing plate, and the lower end of the rubber firing column extends into the center hole of the iron core, and the rubber firing column and the center hole of the iron core are gap-matched and coaxially distributed.

[0014] Beneficial effects of the utility model:

[0015] The coaxial twin-propeller amphibious bombing aircraft of the utility model has the functions of omnidirectional movement on the ground, vertical take-off and landing, aerial cruising, and fixed-point bombing. It can quickly and concealedly approach the mission target on the ground. After approaching the mission target, it can quickly take off vertically and can accurately fly over the mission target. After that, it can complete the bombing mission over the mission target. After the bombing mission is completed, it can quickly fly away from the target area and return. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1This is a schematic diagram of the structure of a coaxial twin-propeller air-land amphibious bomb-dropping aircraft of the utility model;

[0017] Figure 2 It is a structural schematic diagram of a coaxial twin-propeller air-land amphibious bomb-dropping aircraft (housing not shown) of the utility model;

[0018] Figure 3 It is a structural schematic diagram of the frame assembly of the utility model;

[0019] Figure 4 It is a structural schematic diagram of the flight attitude adjustment actuator of the utility model;

[0020] Figure 5 It is a structural schematic diagram of the land omnidirectional mobile mechanism of the utility model;

[0021] Figure 6 It is a structural schematic diagram of the bomb throwing mechanism of the utility model;

[0022] In the figure, 1 is a housing, 2 is a coaxial twin-propeller rotor assembly, 3 is a first support plate, 4 is a second support plate, 5 is a third support plate, 6 is a support column, 7 is a first attitude adjustment servo, 8 is a first attitude adjustment rocker, 9 is a first attitude adjustment pull rod, 10 is a first attitude adjustment ring frame, 11 is a second attitude adjustment servo, 12 is a second attitude adjustment rocker, 13 is a second attitude adjustment pull rod, 14 is a second attitude adjustment ring frame, 15 is a first support seat, 16 is a second support seat, 17 is an electronic speed regulator, 18 is a Omnidirectional wheel, 19—travel motor, 20—motor mounting seat, 21—flight control board, 22—battery, 23—integrated controller, 24—visual camera, 25—wireless signal transceiver, 26—external magazine, 27—internal magazine, 28—support rod, 29—projectile, 30—projectile limit spring, 31—projectile limit steel ball, 32—iron core, 33—coil, 34—rubber firing column, 35—armature firing plate, 36—firing plate return spring, 37—projectile firing hole. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] like Figures 1 to 6 As shown, a coaxial twin-propeller air-to-land amphibious bomb-dropping aircraft comprises an outer shell 1, a frame assembly, a coaxial twin-propeller rotor assembly 2, a flight attitude adjustment actuator, a land omnidirectional movement mechanism and a bomb-dropping mechanism; the coaxial twin-propeller rotor assembly 2 is arranged on the top of the frame assembly; the land omnidirectional movement mechanism and the bomb-dropping mechanism are both arranged at the bottom of the frame assembly, and the bomb-dropping mechanism is located at the center of the land omnidirectional movement mechanism; the flight attitude adjustment actuator is arranged between the coaxial twin-propeller rotor assembly 2 and the frame assembly; the outer shell 1 is arranged outside the frame assembly.

[0025] The frame assembly includes a first support plate 3, a second support plate 4 and a third support plate 5; the first support plate 3, the second support plate 4 and the third support plate 5 are arranged in sequence from top to bottom, and the first support plate 3 and the second support plate 4, and the second support plate 4 and the third support plate 5 are fixedly connected by support columns 6; the flight attitude adjustment actuator is arranged above the first support plate 3; the land omnidirectional movement mechanism and the bomb dropping mechanism are both arranged below the third support plate 5.

[0026] The flight attitude adjustment actuator includes a first attitude adjustment servo 7, a first attitude adjustment swing rod 8, a first attitude adjustment rod 9, a first attitude adjustment ring frame 10, a second attitude adjustment servo 11, a second attitude adjustment swing rod 12, a second attitude adjustment rod 13, a second attitude adjustment ring frame 14, a first support seat 15 and a second support seat 16; the first support seat 15 and the second support seat 16 are vertically fixed on the upper surface of the first support plate 3, and the first support seat 15 and the second support seat 16 are distributed in a mirror-symmetrical manner relative to the center of the first support plate 3; the first attitude adjustment ring frame 10 is hinged between the first support seat 15 and the second support seat 16; the second attitude adjustment ring frame 14 is hinged inside the first attitude adjustment ring frame 10, and the hinge axis of the second attitude adjustment ring frame 14 is the same as the hinge axis of the first attitude adjustment ring frame 10 Vertically distributed; the first attitude adjusting servo 7 is fixedly mounted on the lower surface of the first support plate 3, one end of the first attitude adjusting swing rod 8 is fixedly connected to the power output shaft of the first attitude adjusting servo 7, the other end of the first attitude adjusting swing rod 8 is hinged to one end of the first attitude adjusting pull rod 9, and the other end of the first attitude adjusting pull rod 9 is hinged to the first attitude adjusting ring frame 10; the second attitude adjusting servo 11 is fixedly mounted on the lower surface of the first support plate 3, and the power output shaft of the second attitude adjusting servo 11 is vertically distributed with the power output shaft of the first attitude adjusting servo 7; one end of the second attitude adjusting swing rod 12 is fixedly connected to the power output shaft of the second attitude adjusting servo 11, the other end of the second attitude adjusting swing rod 12 is hinged to one end of the second attitude adjusting pull rod 13, and the other end of the second attitude adjusting pull rod 13 is hinged to the second attitude adjusting ring frame 14.

[0027] The coaxial twin-propeller rotor assembly 2 is fixedly mounted on a second attitude adjustment ring frame 14 ; an electronic speed regulator 17 is provided on the upper surface of the first support plate 3 between the first support seat 15 and the second support seat 16 , and the electronic speed regulator 17 is electrically connected to the drive motor in the coaxial twin-propeller rotor assembly 2 .

[0028] The land omnidirectional mobile mechanism includes three sets of omnidirectional wheel moving components, which are evenly distributed along the circumferential direction; the omnidirectional wheel moving components include omnidirectional wheels 18, walking motors 19 and motor mounting seats 20; the motor mounting seats 20 are fixedly installed on the lower surface of the third support plate 5; the walking motor 19 is horizontally fixed on the motor mounting seats 20; the omnidirectional wheels 18 are coaxially fixed on the motor shaft of the walking motor 19; the angle between the motor shafts of any two adjacent walking motors 19 is 120°.

[0029] A flight control board 21 is fixedly arranged on the upper surface of the second support plate 4, and the flight control board 21 has a built-in satellite navigation module; a battery 22 and an integrated controller 23 are fixedly arranged on the upper surface of the third support plate 5; the battery 22 is arranged at the center of the third support plate 5, and the battery 22 serves as the power supply of the aircraft; the integrated controller 23 adopts a split structure and is symmetrically distributed relative to the center of the third support plate 5, so that the center of gravity and the geometric center of the aircraft are kept coincident as much as possible, thereby ensuring the stability of the aircraft during flight and ground driving; the walking motor 19 is electrically connected to the integrated controller 23; a visual camera 24 is fixedly arranged on the lower surface of the third support plate 5, and the number of visual cameras 24 is three. The three visual cameras 24 are evenly distributed along the circumferential direction of the third support plate 5, and a visual camera 24 is arranged between any two adjacent walking motors 19; a wireless signal transceiver 25 is also arranged on the upper surface of the third support plate 5; the visual camera 24 and the wireless signal transceiver 25 are both electrically connected to the integrated controller 23.

[0030] The launching mechanism comprises an outer magazine 26, an inner magazine 27, a support rod 28, a projectile 29, a projectile limiting spring 30, a projectile limiting steel ball 31, an iron core 32, a coil 33, a rubber firing column 34, an armature firing plate 35 and a firing plate reset spring 36; the outer magazine 26 is vertically fixed on the lower surface of the third support plate 5, and the outer magazine 26 is coaxially distributed with the third support plate 5; the inner magazine 27 is arranged on the inner side of the outer magazine 26, and the inner magazine 27 is coaxially distributed with the outer magazine 26, and the inner magazine 27 is fixedly connected with the outer magazine 26 through the support rod 28; a plurality of limiting holes are evenly distributed along the circumferential direction on the magazine body of the inner magazine 27, and a projectile limiting steel ball 31 is arranged in each limiting hole, and the projectile limiting steel ball 31 is in contact with the middle and lower part of the projectile 29; one end of the projectile limiting spring 30 is in contact with the projectile limiting steel ball The bead 31 is fixedly connected, and the other end of the projectile limit spring 30 is fixedly connected to the outer magazine 26; a projectile firing hole 37 is opened at the center of the top of the inner magazine 27; the iron core 32 is vertically fixed on the top of the inner magazine 27, and the iron core 32 adopts a hollow cylindrical structure, and the center hole of the iron core 32 is coaxially distributed with the projectile firing hole 37; the coil 33 is fixedly sleeved on the outer surface of the iron core 32, and the coil 33 is electrically connected to the integrated controller 23; the firing plate reset spring 36 is vertically fixed on the top of the iron core 32, and the armature firing plate 35 is fixedly installed on the top of the firing plate reset spring 36; the rubber firing column 34 is vertically fixed at the center of the lower surface of the armature firing plate 35, and the lower end of the rubber firing column 34 extends into the center hole of the iron core 32, and the rubber firing column 34 and the center hole of the iron core 32 are gap-matched and coaxially distributed.

[0031] The following is a description of the one-time use process of the utility model in conjunction with the accompanying drawings:

[0032] In this embodiment, the flight control board 21 adopts the PixhawkV3 flight control board, which can adopt a manual remote control mode or an autonomous control mode.

[0033] First, the aircraft is controlled to travel on the ground so that the aircraft can quickly and covertly approach the mission target. During the ground travel, if the three travel motors 19 have the same rotation speed, the aircraft can be controlled to rotate in place through the three omnidirectional wheels 18. If the three travel motors 19 have different rotation speeds, the speeds of the three omnidirectional wheels 18 will be combined into a rolling force vector, and the aircraft will move along the direction of the rolling force vector.

[0034] When the aircraft approaches the mission target, the ground driving phase ends, and then the drive motor in the coaxial twin-propeller rotor assembly 2 is started, causing the twin blades of the coaxial twin-propeller rotor assembly 2 to rotate at high speed and generate lift thrust. The rotation speed of the twin blades is controlled by the electronic speed regulator 17, and the rotation speed increases from a small value. When the lift thrust generated by the twin blades is greater than the gravity of the aircraft, the aircraft enters the vertical lift-off phase.

[0035] When the aircraft rises to the set height, it starts to turn to level flight. During level flight, the first attitude adjustment servo 7 and the second attitude adjustment servo 11 are started, and the first attitude adjustment servo 7 drives the first attitude adjustment swing rod 8 to swing, and then drives the first attitude adjustment ring frame 10 to swing around its hinge axis through the first attitude adjustment pull rod 9. Similarly, the second attitude adjustment swing rod 12 is driven to swing by the second attitude adjustment servo 11, and then the second attitude adjustment ring frame 14 is driven to swing around its hinge axis through the second attitude adjustment pull rod 13. With the swinging of the first attitude adjustment ring frame 10 and the second attitude adjustment ring frame 14, the superposition of the swinging motions of the two can realize the tilting attitude adjustment of the coaxial twin-propeller rotor assembly 2 in any direction. With the tilting of the coaxial twin-propeller rotor assembly 2, the lifting thrust generated by the twin blades will be further decomposed into horizontal force and vertical force. The vertical force is used to maintain the aircraft in the air, and the horizontal force is used to drive the aircraft to translate in the air. Therefore, by adjusting the tilting direction of the coaxial twin-propeller rotor assembly 2, level flight of any aircraft in any direction can be achieved.

[0036] When the aircraft moves to the mission target in level flight, the mission target is locked with the help of the visual camera 24, and the aircraft is precisely hovered above the mission target. Subsequently, the coil 33 is energized to make the iron core 32 generate magnetism. Under the magnetic attraction of the iron core 32, the armature firing plate 35 is attracted and moved downward, and the rubber firing column 34 is driven to move downward synchronously, and the firing plate reset spring 36 is compressed until the rubber firing column 34 passes through the firing hole 37 of the projectile body and hits the projectile 29 below, so that the projectile 29 moves downward, and radially squeezes the projectile limit steel ball 31, so that the projectile limit steel ball 31 retreats, and the projectile limit spring 30 is compressed until the projectile 29 completely passes the projectile limit steel ball 31, and the limit of the projectile 29 is released. Under the action of gravity, the projectile 29 falls freely toward the mission target, and the bombing is completed.

[0037] After the limit of the missile body 29 is released and the bomb is dropped, the aircraft quickly recovers from the hovering state to the level flight state, and quickly flies away from the target area until returning.

[0038] The solutions in the embodiments are not intended to limit the protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the protection scope of the present invention.

Claims

1. A coaxial twin-propeller amphibious bomb-dropping aircraft, characterized in that: It includes an outer shell, a frame assembly, a coaxial twin-propeller rotor assembly, a flight attitude adjustment actuator, a land omnidirectional movement mechanism and a bomb-releasing mechanism; the coaxial twin-propeller rotor assembly is arranged on the top of the frame assembly; the land omnidirectional movement mechanism and the bomb-releasing mechanism are both arranged at the bottom of the frame assembly, and the bomb-releasing mechanism is located at the center of the land omnidirectional movement mechanism; the flight attitude adjustment actuator is arranged between the coaxial twin-propeller rotor assembly and the frame assembly; the outer shell is arranged outside the frame assembly.

2. A coaxial twin-propeller amphibious bomb-dropping aircraft according to claim 1, characterized in that: The frame assembly includes a first support plate, a second support plate and a third support plate; the first support plate, the second support plate and the third support plate are arranged in sequence from top to bottom, and the first support plate and the second support plate, and the second support plate and the third support plate are fixedly connected by support columns; the flight attitude adjustment actuator is arranged above the first support plate; the land omnidirectional movement mechanism and the bomb release mechanism are both arranged below the third support plate.

3. The coaxial twin-propeller amphibious bomb-dropping aircraft according to claim 2, characterized in that: The flight attitude adjustment actuator includes a first attitude adjustment servo, a first attitude adjustment swing rod, a first attitude adjustment rod, a first attitude adjustment ring frame, a second attitude adjustment servo, a second attitude adjustment swing rod, a second attitude adjustment rod, a second attitude adjustment ring frame, a first support seat and a second support seat; the first support seat and the second support seat are vertically fixed on the upper surface of the first support plate, and the first support seat and the second support seat are mirror-symmetrically distributed relative to the center of the first support plate; the first attitude adjustment ring frame is hinged between the first support seat and the second support seat; the second attitude adjustment ring frame is hinged inside the first attitude adjustment ring frame, and the hinge axis of the second attitude adjustment ring frame is vertically distributed with respect to the hinge axis of the first attitude adjustment ring frame; the The first attitude adjusting servo is fixedly installed on the lower surface of the first support plate, one end of the first attitude adjusting swing arm is fixedly connected to the power output shaft of the first attitude adjusting servo, the other end of the first attitude adjusting swing arm is hinged to one end of the first attitude adjusting pull rod, and the other end of the first attitude adjusting pull rod is hinged to the first attitude adjusting ring frame; the second attitude adjusting servo is fixedly installed on the lower surface of the first support plate, and the power output shaft of the second attitude adjusting servo is vertically distributed with the power output shaft of the first attitude adjusting servo; one end of the second attitude adjusting swing arm is fixedly connected to the power output shaft of the second attitude adjusting servo, the other end of the second attitude adjusting swing arm is hinged to one end of the second attitude adjusting pull rod, and the other end of the second attitude adjusting pull rod is hinged to the second attitude adjusting ring frame.

4. The coaxial twin-propeller amphibious bomb-dropping aircraft according to claim 3, characterized in that: The coaxial twin-propeller rotor assembly is fixedly mounted on a second attitude adjustment annular frame; an electronic speed regulator is arranged on the upper surface of the first support plate between the first support seat and the second support seat, and the electronic speed regulator is electrically connected to the drive motor in the coaxial twin-propeller rotor assembly.

5. The coaxial twin-propeller amphibious bomb-dropping aircraft according to claim 2, characterized in that: The land omnidirectional mobile mechanism includes three sets of omnidirectional wheel moving components, which are evenly distributed along the circumferential direction; the omnidirectional wheel moving components include omnidirectional wheels, walking motors and motor mounting seats; the motor mounting seats are fixedly installed on the lower surface of the third support plate; the walking motor is horizontally fixed on the motor mounting seat; the omnidirectional wheel is coaxially fixed on the motor shaft of the walking motor; the angle between any two adjacent motor shafts of the walking motors is 120°.

6. The coaxial twin-propeller amphibious bomb-dropping aircraft according to claim 5, characterized in that: A flight control board is fixedly arranged on the upper surface of the second support plate, and the flight control board has a built-in satellite navigation module; a battery and an integrated controller are fixedly arranged on the upper surface of the third support plate; the battery is arranged at the center of the third support plate, and the battery serves as a power supply for the aircraft; the integrated controller adopts a split structure and is symmetrically distributed relative to the center of the third support plate; the walking motor is electrically connected to the integrated controller; three visual cameras are fixedly arranged on the lower surface of the third support plate, and the three visual cameras are evenly distributed along the circumferential direction of the third support plate, and a visual camera is arranged between any two adjacent walking motors; a wireless signal transceiver is also arranged on the upper surface of the third support plate; the visual camera and the wireless signal transceiver are both electrically connected to the integrated controller.

7. The coaxial twin-propeller amphibious bomb-dropping aircraft according to claim 6, characterized in that: The launching mechanism comprises an outer magazine, an inner magazine, a support rod, a projectile, a projectile limiting spring, a projectile limiting steel ball, an iron core, a coil, a rubber firing column, an armature firing plate and a firing plate reset spring; the outer magazine is vertically fixed on the lower surface of the third support plate, and the outer magazine is coaxially distributed with the third support plate; the inner magazine is arranged on the inner side of the outer magazine, and the inner magazine is coaxially distributed with the outer magazine, and the inner magazine is fixedly connected to the outer magazine through the support rod; a plurality of limiting holes are evenly distributed along the circumferential direction on the magazine body of the inner magazine, and a projectile limiting steel ball is arranged in each limiting hole, and the projectile limiting steel ball is in abutment and contact with the middle and lower part of the projectile; one end of the projectile limiting spring is fixed to the projectile limiting steel ball The inner magazine is fixedly connected, and the other end of the projectile limit spring is fixedly connected to the outer magazine; a projectile firing hole is opened at the center of the top of the inner magazine; the iron core is vertically fixed on the top of the inner magazine, and the iron core adopts a hollow cylindrical structure, and the center hole of the iron core is coaxially distributed with the projectile firing hole; the coil is fixedly sleeved on the outer surface of the iron core, and the coil is electrically connected to the integrated controller; the firing plate reset spring is vertically fixed on the top of the iron core, and the armature firing plate is fixedly installed on the top of the firing plate reset spring; the rubber firing column is vertically fixed at the center of the lower surface of the armature firing plate, and the lower end of the rubber firing column extends into the center hole of the iron core, and the rubber firing column and the center hole of the iron core are gap-matched and coaxially distributed.

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